Learning to Navigate with Minimal Parameters: Decomposing Visual Navigation Through Closed-Form Geometric Interfaces

arXiv:2607.11029 · cs.RO, cs.CV · Submitted 2026-07-13 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-07-13

Updated: 2026-09-24

Comments: Under review

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Ablation — 4× in this paper · explained in 1 episode
• Robustness — 4× in this paper · explained in 5 episodes
• Diffusion Model — 3× in this paper · explained in 8 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Corruption Robustness — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Hybrid Approach — 1× in this paper · explained in 4 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Success Rate — 1× in this paper
• Transferability — 1× in this paper · explained in 4 episodes

Sources

• GNM: A General Navigation Model to Drive Any Robot
• ViNT: A Foundation Model for Visual Navigation
• NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance
• LoGoPlanner: Localization Grounded Navigation Policy with Metric-aware Visual Geometry
• NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration
• StepNav: Structured Trajectory Priors for Efficient and Multimodal Visual Navigation
• Rectified Schr\"odinger Bridge Matching for Few-Step Visual Navigation
• Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation
• Denoising Diffusion Probabilistic Models
• On Evaluation of Embodied Navigation Agents

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